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TECHNICAL PAPERS

Rest-to-Rest Motion for Planar Multi-Link Flexible Manipulator Through Backward Recursion

[+] Author and Article Information
M. Benosman

LAM, Université de Reims Champagne-Ardenne, BP 1039, 51687 Reims Cedex 2, Francee-mail: mouhacine.benosman@univ-reims.fr

G. Le Vey

Institut de Recherche en Cybernétique de Nantes, UMR 6597-CNRS 1 rue de la Noë, BP 92101, 44321 Nantes Cedex 3, Francee-mail: levey@emn.fr

L. Lanari, A. De Luca

Universit degli studi di Roma “La Sapienza,” Via Eudossiana 18, 00184 Roma, Italy

J. Dyn. Sys., Meas., Control 126(1), 115-123 (Apr 12, 2004) (9 pages) doi:10.1115/1.1649976 History: Received July 28, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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References

Figures

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Planar multi-link flexible manipulator
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The two-link flexible arm testbed
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Initial elastic vector Euclidian norm square |e|2 as function of tf
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Time scheduling gain, slow motion tf=5 s
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First joint motion, desired (continuous line) and actual (dashed line) motion, slow motion tf=5 s, simulation results
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Second joint motion, desired (continuous line) and actual (dashed line) motion, slow motion tf=5 s, simulation results
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First arm tip-deflection, slow motion tf=5 s, simulation results
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Second arm tip-deflection, slow motion tf=5 s, simulation results
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First closed-loop torque, slow motion tf=5 s, simulation results
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Second closed-loop torque, slow motion tf=5 s, simulation results
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First joint motion, desired (continuous line) and actual (dashed line) motion, disturbed plant
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Second joint motion, desired (continuous line) and actual (dashed line) motion, disturbed plant
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First link tip deflection, disturbed plant
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Second link tip deflection, disturbed plant
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First closed-loop torque, disturbed plant
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Second closed-loop torque, disturbed plant
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Desired and actual (dashed line) motion, fast motion tf=3 s without optimal trajectory planning
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Optimal trajectories for different m values
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First joint motion, desired (continuous line) and actual (dashed line) motion, fast motion tf=3 s, simulation results
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Second joint motion, desired (continuous line) and actual (dashed line) motion, fast motion tf=3 s, simulation results
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First link tip deflection, fast motion tf=3 s, simulation results
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Second link tip deflection, fast motion tf=3 s, simulation results
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First closed-loop torque, fast motion tf=3 s, simulation results
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Second closed-loop torque, fast motion tf=3 s, simulation results
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Time scheduling gain, fast motion tf=3 s
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First joint motion, desired (continuous line) and actual (dashed line) motion, slow motion tf=5 s, experimental test
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Second joint motion, desired (continuous line) and actual (dashed line) motion, slow motion tf=5 s, experimental test
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First arm tip-deflection, slow motion tf=5 s, experimental test
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Second arm tip-deflection, slow motion tf=5 s, experimental test
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First closed-loop torque, slow motion tf=5 s, experimental test
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Second closed-loop torque, slow motion tf=5 s, experimental test

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